How to synchronize video and image sequence through ffmpeg?

Question

linux

I'm trying to overlay a video using ffmpeg. I have a video in mp4 and a sequence of pictures, each of which is already mapped to each frame of the video.
I do it like this:

ffmpeg \
  -i video.mp4 \
  -framerate 30000/1001 \
  -i %05d.png \
  -filter_complex [0:v]overlay=x=0:y=0:[out] \
  -map [out] -map 0:a \
  out.mp4

The problem is that if you do not explicitly specify -framerate, then images and videos will be out of sync. the framerate listed here is just taken from ffprobe on video.mp4. That is, this is the original frame rate of video.mp4.
How can I make ffmpeg just map every frame of a png sequence to every frame of the video? Regardless of the frame rate of the original video. So that you don’t have to tear out the frame rate of the video every time and substitute it here.